[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
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What is the shortest path I can take to understand the geometric observer? #21
The geometric observer in your paper is derived from contraction analysis, which is beyond my comprehension. As a mediocre SLAMer, I know a bit about calculus, linear algebra, probability, optimization and lie theory. However, when I asked chatgpt how to learn contraction analysis, it started talking about ODE, functional analysis, dynamic systems and control theory. What is the minimal knowledge I need from these areas to understand your paper A Contracting Hierarchical Observer for Pose-Inertial Fusion? What tutorials would you recommend?
The geometric observer in your paper is derived from contraction analysis, which is beyond my comprehension. As a mediocre SLAMer, I know a bit about calculus, linear algebra, probability, optimization and lie theory. However, when I asked chatgpt how to learn contraction analysis, it started talking about ODE, functional analysis, dynamic systems and control theory. What is the minimal knowledge I need from these areas to understand your paper A Contracting Hierarchical Observer for Pose-Inertial Fusion? What tutorials would you recommend?